Introduction: SemiAutonomous Submersible Robot for Underwater Research
this is a submersible robot (a little submarine) that can be operated in manual or semi-autonomous mode.
FOR DESCRIPTION OF WHAT ALL THE FILES ARE, GO TO THE LAST STEP
Step 1: Circuit Diagram
TO BE ABLE TO READ THE DIAGRAM, CLICK HERE:
https://static2.instructables.com/ID/F7S/YPXY/Q6SEP27UXHB/4AA2923407121029853F001143E7E506.gif
the rest of the pictures show the construction of the sub. It was made out of two C channels connected by an aluminum sheet. A skid was added to the bottom to allow the sub to skate over the bottom to gather quantitative video samples of the ecology. The skid and two C channels (necessary to hold the large # of sensors desired) was a little heavy so the sub had trouble moving up and down using it's one vertical motor (although there is a fourth small motor in the diagram, we never added that). You should definately be able to make the body a lot lighter so that a single vertical trolling motor will be fine.
Step 2: Code and Documentation, Etc.
TO BE ABLE TO READ THE DIAGRAM, CLICK HERE:
https://static2.instructables.com/ID/F7S/YPXY/Q6SEP27UXHB/4AA2923407121029853F001143E7E506.gif
--SmartConsole.bas is a QBasic program that runs in DOS or win3.1 It's an interface that takes data from the subs sensors and displays them graphically on the screen (tilt, yaw, etc)
--SmartSea.bsx is a basic program that runs on the BSX basic stamp (while building the thing I used a BSX, I put another basic stamp in the diagram because the bsx had one too few pin for sensor interfaces)
--BS1_BOBIII is code interfacing the BS1 with the bobIII video overlay chip
--Purchase lists show everything you need to make this.
--The tutorial talks about how to use everything if you somehow make the exact same thing as I do.
--The final paper talks about why I picked certain parts, overview, etc.
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32 Comments
6 years ago on Introduction
This might be of interest to you, but deadline is this Friday!
Reply 6 years ago on Introduction
There are better ROVs out there than this one but thanks for the heads up :)
10 years ago on Step 2
simply incredible!! nice job!! congratulations!!
a question, where did you find the motors??
11 years ago on Introduction
The link for schematic doesn't work.
11 years ago on Introduction
wooow
12 years ago on Introduction
what is the estimated total weight of your submersible robot? :).... by the way, good work :)
Reply 12 years ago on Introduction
hm, I don't know, was a while ago. maybe 60 or 70lbs? that's just ballpark. that's why we had to add the styrofoam. we should have built it with pvc tubing like everyone else, but we used to heavy duty plastic for the body that was not necessary.
12 years ago on Step 1
My brain just died.. I'll be coming back when I understand what this is
12 years ago on Introduction
impressive!
12 years ago on Introduction
very nice submarine,
would you consider submitting it to the new ROV group ?
13 years ago on Introduction
can this be put in a "for dummies" format? lol
Reply 13 years ago on Introduction
the Joe-Schmoe version: Just give your little brother a pair of goggles, and throw 50 cents in :) INSTANT SUBMARINE
Reply 12 years ago on Introduction
Hmm... I wonder if you can attach cameras and use his arms as manipulators...
Reply 13 years ago on Introduction
i could just toss him in
Reply 13 years ago on Introduction
Thats funny. LOL I am telling the truth. It is Funny!
Reply 13 years ago on Introduction
it's all there in the circuit diagram and in the included documentation I've provided for download. The circuit diagram contains all parts numbers and names of all parts I used. It also has the pin numbers and pin names that are connected to and it contains all external components and their values (resistors, capacitors, crystals, etc). If you make the circuit as shown and program the basic stamp with the code I provided everything will work as described. If you don't get the circuit diagram just look up some electronics tutorial on google and a very basic introduction should be all you need to understand how to make the circuit yourself.
13 years ago on Introduction
AHHH!!!! I think if I were ten years younger (when I had had more time and patience to learn new stuff) I'd have one of these. About how much did this cost for you to purchase all these parts, however?
Reply 13 years ago on Introduction
I don't remember I think it was around $1500 or 2000. It was a project for research purposes so wasn't my own money.
14 years ago on Introduction
Extra points for the use of Qbasic :)
Reply 14 years ago on Introduction
haha, yeah I totally forgot I even used that, I don't think the lab I was working at had visual c++ or any other visual language, and Qbasic got the job done (little moving diagrams of the sub acording to it's angles etc)